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Added code using the perturbation tangents for rotation matrix. Converges in...

Added code using the perturbation tangents for rotation matrix. Converges in...
ujwal_29April2024 into master
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Ludovic Noelsrequested to merge
ujwal_29April2024 into master

Added code using the perturbation tangents for rotation matrix. Converges in elasticity but not in plasticity

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